He had a moment of private reunion with his family before walking out of the arrival gate to cheers of friends and supporters.
Juris Greste, who along with wife Lois fought to keep media attention on the case, said seeing his son's return was "like holding him for the first time".
“I can’t tell you how ecstatic I am to be here,” he said.
But he said “this is all tempered – and i’m going to say this a million times – this is all tempered by a real worry for my colleagues,” and reiterated his call for the freedom of Mohamed Fahmy and Baher Mohamed, who are still in prison: "If it's right for me to be free, then it's right for all of us.”
Latvia's Foreign Ministry said Wednesday it would be inviting Greste to Riga in May to mark World Press Freedom day.
Greste holds dual Latvian and Australian citizenship.